adding the rviz configuration for dabo robot

rviz/dabo_companion.rviz

+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /TF1/Frames1
+        - /Sensors1
+      Splitter Ratio: 0.5936599373817444
+    Tree Height: 643
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: FrontLaserScan
+Preferences:
+  PromptSaveOnExit: true
+Toolbars:
+  toolButtonStyle: 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 100
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Class: rviz/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        All Enabled: true
+        dabo/base_footprint:
+          Value: true
+        dabo/base_link:
+          Value: true
+        dabo/body:
+          Value: true
+        dabo/caster_support:
+          Value: true
+        dabo/front_caster_wheel:
+          Value: true
+        dabo/front_hokuyo_base:
+          Value: true
+        dabo/front_hokuyo_scan_frame:
+          Value: true
+        dabo/front_support:
+          Value: true
+        dabo/head:
+          Value: true
+        dabo/head_servo1:
+          Value: true
+        dabo/head_servo2:
+          Value: true
+        dabo/head_servo3:
+          Value: true
+        dabo/left_arm:
+          Value: true
+        dabo/left_arm_servo1:
+          Value: true
+        dabo/left_arm_servo2:
+          Value: true
+        dabo/left_wheel_link:
+          Value: true
+        dabo/odom:
+          Value: true
+        dabo/rear_caster_wheel:
+          Value: true
+        dabo/rear_hokuyo_base:
+          Value: true
+        dabo/rear_hokuyo_scan_frame:
+          Value: true
+        dabo/rear_support:
+          Value: true
+        dabo/right_arm:
+          Value: true
+        dabo/right_arm_servo1:
+          Value: true
+        dabo/right_arm_servo2:
+          Value: true
+        dabo/right_wheel_link:
+          Value: true
+        dabo/top_plate:
+          Value: true
+        map:
+          Value: true
+        world:
+          Value: true
+        world_body:
+          Value: true
+      Marker Scale: 0.25
+      Name: TF
+      Show Arrows: false
+      Show Axes: true
+      Show Names: true
+      Tree:
+        dabo/odom:
+          dabo/base_footprint:
+            dabo/base_link:
+              dabo/caster_support:
+                {}
+              dabo/front_hokuyo_base:
+                dabo/front_hokuyo_scan_frame:
+                  {}
+              dabo/front_support:
+                dabo/front_caster_wheel:
+                  {}
+              dabo/left_wheel_link:
+                {}
+              dabo/rear_hokuyo_base:
+                dabo/rear_hokuyo_scan_frame:
+                  {}
+              dabo/rear_support:
+                dabo/rear_caster_wheel:
+                  {}
+              dabo/right_wheel_link:
+                {}
+              dabo/top_plate:
+                dabo/body:
+                  {}
+                dabo/head_servo1:
+                  dabo/head_servo2:
+                    dabo/head_servo3:
+                      dabo/head:
+                        {}
+                dabo/left_arm_servo1:
+                  dabo/left_arm_servo2:
+                    dabo/left_arm:
+                      {}
+                dabo/right_arm_servo1:
+                  dabo/right_arm_servo2:
+                    dabo/right_arm:
+                      {}
+      Update Interval: 0
+      Value: true
+    - Alpha: 1
+      Class: rviz/RobotModel
+      Collision Enabled: false
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        base_footprint:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        body:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        caster_support:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        front_caster_wheel:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        front_hokuyo_base:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        front_hokuyo_scan_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        front_support:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        head:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        head_servo1:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        head_servo2:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        head_servo3:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        left_arm:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        left_arm_servo1:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        left_arm_servo2:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        left_wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        rear_caster_wheel:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        rear_hokuyo_base:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        rear_hokuyo_scan_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        rear_support:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        right_arm:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        right_arm_servo1:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        right_arm_servo2:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        right_wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        top_plate:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+      Name: RobotModel
+      Robot Description: dabo/robot_description
+      TF Prefix: dabo
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+    - Class: rviz/Group
+      Displays:
+        - Angle Tolerance: 0.30000001192092896
+          Class: rviz/Odometry
+          Covariance:
+            Orientation:
+              Alpha: 0.5
+              Color: 255; 255; 127
+              Color Style: Unique
+              Frame: Local
+              Offset: 1
+              Scale: 1
+              Value: true
+            Position:
+              Alpha: 0.30000001192092896
+              Color: 204; 51; 204
+              Scale: 1
+              Value: true
+            Value: false
+          Enabled: true
+          Keep: 100
+          Name: Odometry
+          Position Tolerance: 0.30000001192092896
+          Shape:
+            Alpha: 1
+            Axes Length: 1
+            Axes Radius: 0.10000000149011612
+            Color: 255; 25; 0
+            Head Length: 0.10000000149011612
+            Head Radius: 0.10000000149011612
+            Shaft Length: 0.5
+            Shaft Radius: 0.05000000074505806
+            Value: Arrow
+          Topic: /dabo/odom
+          Unreliable: false
+          Value: true
+        - Alpha: 1
+          Autocompute Intensity Bounds: true
+          Autocompute Value Bounds:
+            Max Value: 10
+            Min Value: -10
+            Value: true
+          Axis: Z
+          Channel Name: intensity
+          Class: rviz/LaserScan
+          Color: 85; 0; 255
+          Color Transformer: FlatColor
+          Decay Time: 0
+          Enabled: true
+          Invert Rainbow: false
+          Max Color: 255; 255; 255
+          Max Intensity: 999999
+          Min Color: 0; 0; 0
+          Min Intensity: 999999
+          Name: FrontLaserScan
+          Position Transformer: XYZ
+          Queue Size: 10
+          Selectable: true
+          Size (Pixels): 3
+          Size (m): 0.009999999776482582
+          Style: Points
+          Topic: /dabo/sensors/front_scan
+          Unreliable: false
+          Use Fixed Frame: true
+          Use rainbow: true
+          Value: true
+        - Alpha: 1
+          Autocompute Intensity Bounds: true
+          Autocompute Value Bounds:
+            Max Value: 10
+            Min Value: -10
+            Value: true
+          Axis: Z
+          Channel Name: intensity
+          Class: rviz/LaserScan
+          Color: 85; 170; 255
+          Color Transformer: FlatColor
+          Decay Time: 0
+          Enabled: true
+          Invert Rainbow: false
+          Max Color: 255; 255; 255
+          Max Intensity: 999999
+          Min Color: 0; 0; 0
+          Min Intensity: 999999
+          Name: RearLaserScan
+          Position Transformer: XYZ
+          Queue Size: 10
+          Selectable: true
+          Size (Pixels): 3
+          Size (m): 0.009999999776482582
+          Style: Points
+          Topic: /dabo/sensors/rear_scan
+          Unreliable: false
+          Use Fixed Frame: true
+          Use rainbow: true
+          Value: true
+        - Class: rviz/Group
+          Displays:
+            - Class: rviz/Image
+              Enabled: true
+              Image Topic: /dabo/bumblebee2_left/image_raw
+              Max Value: 1
+              Median window: 5
+              Min Value: 0
+              Name: LeftImage
+              Normalize Range: true
+              Queue Size: 2
+              Transport Hint: compressed
+              Unreliable: false
+              Value: true
+            - Class: rviz/Image
+              Enabled: true
+              Image Topic: /dabo/bumblebee2_right/image_raw
+              Max Value: 1
+              Median window: 5
+              Min Value: 0
+              Name: RightImage
+              Normalize Range: true
+              Queue Size: 2
+              Transport Hint: compressed
+              Unreliable: false
+              Value: true
+            - Class: rviz/Camera
+              Enabled: false
+              Image Rendering: background and overlay
+              Image Topic: /dabo/bumblebee2_right/image_raw
+              Name: RightCamera
+              Overlay Alpha: 0.5
+              Queue Size: 2
+              Transport Hint: compressed
+              Unreliable: false
+              Value: false
+              Visibility:
+                Grid: true
+                RobotModel: true
+                Sensors:
+                  Camera:
+                    LeftCamera: true
+                    LeftImage: true
+                    RightCamera: true
+                    RightImage: true
+                    Value: true
+                  FrontLaserScan: true
+                  Odometry: true
+                  RearLaserScan: true
+                  Value: true
+                TF: true
+                Value: true
+              Zoom Factor: 1
+            - Class: rviz/Camera
+              Enabled: false
+              Image Rendering: background and overlay
+              Image Topic: /dabo/bumblebee2_left/image_raw
+              Name: LeftCamera
+              Overlay Alpha: 0.5
+              Queue Size: 2
+              Transport Hint: compressed
+              Unreliable: false
+              Value: false
+              Visibility:
+                Grid: true
+                RobotModel: true
+                Sensors:
+                  Camera:
+                    LeftCamera: true
+                    LeftImage: true
+                    RightCamera: true
+                    RightImage: true
+                    Value: true
+                  FrontLaserScan: true
+                  Odometry: true
+                  RearLaserScan: true
+                  Value: true
+                TF: true
+                Value: true
+              Zoom Factor: 1
+          Enabled: false
+          Name: Camera
+      Enabled: true
+      Name: Sensors
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Default Light: true
+    Fixed Frame: dabo/odom
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Theta std deviation: 0.2617993950843811
+      Topic: /dabo/initialpose
+      X std deviation: 0.5
+      Y std deviation: 0.5
+    - Class: rviz/SetGoal
+      Topic: /dabo/move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 10
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0
+        Y: 0
+        Z: 0
+      Focal Shape Fixed Size: false
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.7853981852531433
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 0.7853981852531433
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 872
+  Hide Left Dock: false
+  Hide Right Dock: false
+  LeftCamera:
+    collapsed: false
+  LeftImage:
+    collapsed: false
+  QMainWindow State: 000000ff00000000fd00000004000000000000016a0000030efc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000030e000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000035f000002b2fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000308000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000055d0000015bfc0100000006fb00000012004c0065006600740049006d0061006700650000000000000003070000007a00fffffffb00000014005200690067006800740049006d006100670065000000030d000002500000008300fffffffb00000014004c00650066007400430061006d00650072006100000002b1000002ac0000008400fffffffb000000160052006900670068007400430061006d0065007200610000000498000000c50000008d00fffffffb0000000800540069006d00650000000000000004b0000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000003ed0000030e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  RightCamera:
+    collapsed: false
+  RightImage:
+    collapsed: false
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1373
+  X: 67
+  Y: 0